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Raspbian(RaspberryPi3) Installation

This is a setup guide for Realsense with RaspberryPi

These steps are for D435 with Raspberry Pi3 and 3+.

Check versions

$ uname -a
Linux raspberrypi 4.14.34-v7+ 

$ sudo apt update;sudo apt upgrade
$ sudo reboot
$ uname -a


$ gcc -v
gcc version 6.3.0 20170516 (Raspbian 6.3.0-18+rpi1+deb9u1)

$ cmake --version
cmake version 3.7.2

Add swap

Initial value is 100MB, but we need to build libraries so initial value isn't enough for that. In this case, need to switch from 100 to 2048 (2GB). Note that this is only needed on Raspberry Pi's with a small amount of RAM.

$ sudo vim /etc/dphys-swapfile
CONF_SWAPSIZE=2048

$ sudo /etc/init.d/dphys-swapfile restart swapon -s

Install packages

$ sudo apt-get install -y libdrm-amdgpu1 libdrm-amdgpu1-dbgsym libdrm-dev libdrm-exynos1 libdrm-exynos1-dbgsym libdrm-freedreno1 libdrm-freedreno1-dbgsym libdrm-nouveau2 libdrm-nouveau2-dbgsym libdrm-omap1 libdrm-omap1-dbgsym libdrm-radeon1 libdrm-radeon1-dbgsym libdrm-tegra0 libdrm-tegra0-dbgsym libdrm2 libdrm2-dbgsym

$ sudo apt-get install -y libglu1-mesa libglu1-mesa-dev glusterfs-common libglu1-mesa libglu1-mesa-dev libglui-dev libglui2c2

$ sudo apt-get install -y libglu1-mesa libglu1-mesa-dev mesa-utils mesa-utils-extra xorg-dev libgtk-3-dev libusb-1.0-0-dev

update udev rule

Now we need to get librealsense from the repo(https://github.com/IntelRealSense/librealsense).

$ cd ~
$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd librealsense
$ sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ 
$ sudo udevadm control --reload-rules && sudo udevadm trigger

update cmake version (if your cmake is 3.7.2 or before 3.11.4)

If you don't use zsh, please switch .zshrc to .bashrc.

$ cd ~
$ wget https://cmake.org/files/v3.11/cmake-3.11.4.tar.gz
$ tar -zxvf cmake-3.11.4.tar.gz;rm cmake-3.11.4.tar.gz
$ cd cmake-3.11.4
$ ./configure --prefix=/home/pi/cmake-3.11.4
$ make -j1
$ sudo make install
$ export PATH=/home/pi/cmake-3.11.4/bin:$PATH
$ source ~/.zshrc
$ cmake --version
cmake version 3.11.4

set path

$ vim ~/.zshrc
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

$ source ~/.zshrc

install protobuf

$ cd ~
$ git clone --depth=1 -b v3.5.1 https://github.com/google/protobuf.git
$ cd protobuf
$ ./autogen.sh
$ ./configure
$ make -j1
$ sudo make install
$ cd python
$ export LD_LIBRARY_PATH=../src/.libs
$ python3 setup.py build --cpp_implementation 
$ python3 setup.py test --cpp_implementation
$ sudo python3 setup.py install --cpp_implementation
$ export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=cpp
$ export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION_VERSION=3
$ sudo ldconfig
$ protoc --version

install TBB

$ cd ~
$ wget https://github.com/PINTO0309/TBBonARMv7/raw/master/libtbb-dev_2018U2_armhf.deb
$ sudo dpkg -i ~/libtbb-dev_2018U2_armhf.deb
$ sudo ldconfig
$ rm libtbb-dev_2018U2_armhf.deb

install OpenCV

You can build from source code, but it takes so much time. In this case, we will use pre-build version to save time.

Remove previous version
$ sudo apt autoremove libopencv3

Install 
$ wget https://github.com/mt08xx/files/raw/master/opencv-rpi/libopencv3_3.4.3-20180907.1_armhf.deb
$ sudo apt install -y ./libopencv3_3.4.3-20180907.1_armhf.deb
$ sudo ldconfig

install RealSense SDK/librealsense

$ cd ~/librealsense
$ mkdir  build  && cd build
$ cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true
$ make -j1
$ sudo make install

install pyrealsense2

$ cd ~/librealsense/build

for python2
$ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python)

for python3
$ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)

$ make -j1
$ sudo make install

add python path
$ vim ~/.zshrc
export PYTHONPATH=$PYTHONPATH:/usr/local/lib

$ source ~/.zshrc

change pi settings (enable OpenGL)

$ sudo apt-get install python-opengl
$ sudo -H pip3 install pyopengl
$ sudo -H pip3 install pyopengl_accelerate
$ sudo raspi-config
"7.Advanced Options" - "A7 GL Driver" - "G2 GL (Fake KMS)"

Finally, need to reboot pi

$ sudo reboot

Try RealSense D435

Connected D435 to the pi and open terminal

$ realsense-viewer